PiksiMulti - Robots éducatifs, robots de service, robots

Piksi MultiGNSS Module Hardware Specification

Hardware Version 00108-07

Features

Centimeter-level Accurate

Dual Frequency RTK GPS L1/L2

Hardware-ready for:

– GLONASS G1/G2

– BeiDou B1/B2

– Galileo E1/E5b

– QZSS L1/L2

– SBAS

20 Hz Solution Rate

On-board MEMS IMU and Magnetometer

Flexible Interfaces

– UART

– Ethernet

– CAN

– USB

Communication Protocols

– Swift Binary Protocol

– NMEA 0183

External Clock Input

32 User-definable GPIO Pins for Customization

Wide power supply range: 5.0 - 15.0 V DC

Linux Open Platform

Low Cost

Applications

Autonomous Vehicle Guidance

Precision Agriculture

Robotics

Unmanned Aerial Vehicles

GPS / GNSS Research

Structual / Land Monitoring

Offshore / Marine Applications

Figure 1: Piksi Multi - Top and Bottom View

Overview

PiksiTM Multi is a low-cost, high-performance GNSS

receiver with Real Time Kinematics (RTK) technology for

centimeter-level positioning accuracy. Its small form factor,

fast position solution update rate and robust feature set

make Piksi Multi ideal for integration into autonomous

vehicles and robotics. Multi-band and multi-constellation

support enable Piksi Multi to offer fast RTK convergence

times. Integrated MEMS inertial measurement unit (IMU)

and magnetometer enable sensor fusion techniques.

Version 1.1, September 14, 2017 PN: 000-534-01-01 1 of 9

Swift Navigation, Inc. Piksi Multi - GNSS Module - Hardware Specification

System Architecture

The Piksi Multi receiver architecture consists of two

primary components: the RF front-end and the Xilinx Zynq

7020 system on a chip. The RF front-end downconverts

and digitizes the radio frequency signal from the antenna.

The digitized signal is passed into the programmable logic

of the Xilinx Zynq 7020.

The programmable logic is defined by the SwiftNAP to

performs basic filtering and correlation operations on the

signal stream. The SwiftNAP is controlled by the

processing system of the Xilinx Zynq 7020 which programs

the correlation operations, collects the results and processes

them all the way to position/velocity/time (PVT) solutions.

Signal Tracking

Historically, the GNSS industry has used the number of

tracking channels available on a receiver as a measure of its

signal tracking capability. This is likely an artifact of

receivers traditionally being designed to utilize ASICs with

individual tracking channels for different constellations and

frequencies. Unfortunately, it is often the case that the

number of tracking channels is also conflated with the

number of correlators.

Piksi Multi employs a unique design, which does not

utilize an ASIC. Instead, the tracking and correlation duties

are serviced by the programmable logic of the Zynq 7020.

This allows Piksi Multi to be extremely flexible with regards

to how tracking and correlation resources are allocated; it

also makes comparisons of tracking channel count largely

irrelevant.

Piksi Multi is capable of simultaneous tracking of L1

and L2 signals from up to 22 satellites.

Xilinx Zynq 7020

The on-board system on chip is a Xilinx Zynq 7020,

equipped with dual-core ARM Cortex-A9 processors running

at 666 MHz. This powerful SoC performs all GNSS

functions above the correlator level including tracking loop

filters, acquisition management and navigation processing.

The Zynq 7020 runs Linux on-board to enable seamless

integration of customer applications.

SwiftNAP

The SwiftNAP utlitizes the programmable logic of the

Zynq 7020 SoC and comes pre-programmed with Swift

Navigation’s SwiftNAP firmware. The SwiftNAP contains

correlators specialized for satellite signal tracking and

acquisition.

IMU and Magnetometer

The Piksi Multi module has on-board, high quality,

MEMS grade sensors to allow for sensor fusion.

IMU - Bosch BMI160

Acceleration Range (Selectable)

±2 g, ±4 g, ±8 g, ±16 g

Gyroscope Range (Selectable)

±125, ±250, ±500, ±1000, ±2000 (/s)

Resolution: 16 bit

Magnetometer - Bosch BMM150

Magnetic Field Range (X,Y): ±1300 µT

Magnetic Field Range (Z): ±2500 µT

Magnetic Field Resolution: ±0.3 µT

These MEMS sensors are intended for customers to use

in their own application. At this moment, Swift Navigation

has no immediate plans to provide a tightly coupled

GPS-INS positioning solution, however, this may change in

the near future. The Piksi Multi will have the ability to

output raw data from these sensors through via Swift

Binary Protocol at data rates up to 200 Hz.


https://www.bosch-sensortec.com/bst/products/all_products/bmi160

https://www.bosch-sensortec.com/bst/products/all_products/bmm150

https://github.com/swift-nav/libsbp/tree/master/docs



Block Diagram

Figure 2: Piksi Multi Block Diagram



Connections

1 VIN NC 2

3 USB0 - USB0 + 4

5 /RESETIN CAN0 RX 6

7 CAN0 TX CAN1 RX 8

9 EVENT IN GND 10

11 UART0 TX UART0 RX 12

13 GND UART1 TX 14

15 UART1 RX GND 16

17 PV GND 18

19 PPS CAN1 TX 20

20 Pin Connector

Note: Pins 1 & 2 of the 20 Pin Connector

are not pin-for-pin compatible with similar

connections found on Trimble and Novatel

products.

Please refer to the pinouts below for

detailed signal descriptions.

12

1920

High Density Connector 2

1 GND GND 2

3 NC USB1 SUPPLY 4

... ... ... ...

57 RTC SUPPLY JTAG RST 58

59 GND GND 60


1 GND GND 2

3 GPIO 32 GPIO 31 4

... ... ... ...

57 SDIO CLK USB 1 SUPPLY EN 58

59 GND GND 60

External Antenna

(MMCX)

Figure 3: Connections - Bottom View

External Antenna

The MMCX connector serves as the input for an

external active antenna. It is required to use an antenna

with more than 25dB of gain.

Power

Power may be supplied to the board via the 20 pin or

the High Density connectors. Do not supply power to both

simultaneously. See the pinouts below for connection

details. Operating ranges can be found in the Electrical

Specifications section.

20 Pin Connector

Part Number: TMM-110-03-F-D-ND - Mating Connector Part Number: TLE-110-01-G-DV-A-TR

Pin # Connection I/O Notes Pin # Connection I/O Notes

1 VIN PWR Input voltage (5.0-15.0 VDC) 2 NC DNC Not Connected

3 USB0 D N I/O USB0 Data - 4 USB0 D P I/O USB0 Data +

5 /RESETIN I Active low reset 6 CAN0 RX I CAN bus 0 - RX

7 CAN0 TX O CAN bus 0 - TX 8 CAN1 RX I CAN bus 1 - RX

9 EVENT IN I External Event Marker 10 DIG GND PWR Ground

11 UART0 TX O UART 0 - TX 12 UART0 RX I UART 0 - RX

13 DIG GND PWR Ground 14 UART1 TX O UART 1 - TX

15 UART1 RX I UART1 - RX 16 DIG GND PWR Ground

17 PV O Position Valid 18 DIG GND PWR Ground

19 PPS O Pulse Per Second Out 20 CAN1 TX I CAN bus 1 - TX




Part Number: 61082-061400LF - Mating Connector Part Number: 61083-062400LF


1 DIG GND PWR Ground 2 DIG GND PWR Ground

3 GPIO 32 I/O GPIO 32 4 GPIO 31 I/O GPIO 31

5 VIN CONN PWR Input voltage (5.0 - 15.0 VDC) 6 VIN CONN PWR Input voltage (5.0 - 15.0 VDC)

7 USB 1 D P I/O USB1 Data + 8 /RESETIN I Active low reset

9 USB 1 D N I/O USB1 Data - 10 EVENT IN I External Event Marker


13 ENET0 TX CLK O Ethernet TX Clock 14 ENET 0 RX CLK I Ethernet RX Clock

15 ENET0 TXD0 O Ethernet TX [0] 16 ENET0 RXD0 I Ethernet RX [0]




23 ENET0 TX CTL O Ethernet TX Control 24 ENET0 RX CTL O Ethernet RX Control

25 PV O Position Valid 26 ENET0 MDC O Ethernet Management Data Control

27 PPS O Pulse Per Second 28 ENET0 MDIO I/O Ethernet Management Data I/O


31 NC DNC Not Connected 32 ENET0 RST O Ethernet Reset


35 EXT CLK I External Clock Input 36 DIG 1V0 DNC Do Not Connect

37 UART0 TX O UART 0 TX (LVTTL) 38 DIG 1V35 DNC Do Not Connect

39 UART0 RX I UART 0 RX (LVTTL) 40 DIG 1V8 DNC Do Not Connect

41 UART0 RTS O UART 0 RTS (LVTTL) 42 DIG 3V3 DNC Do Not Connect

43 UART0 CTS I UART 0 CTS (LVTTL) 44 RF 4V85 DNC Do Not Connect

45 CAN0 RX I CAN 0 RX (LVTTL) 46 RF 3V3 DNC Do Not Connect

47 CAN0 TX O CAN 0 TX (LVTTL) 48 SDIO D0 I/O SD Card D0

49 SDIO CMD O SD Card Command 50 SDIO D1 I/O SD Card D1

51 SDIO CD I SD Card Card Detect 52 SDIO D2 I/O SD Card D2

53 SDIO WP O SD Card Write Protect 54 SDIO D3 I/O SD Card D3

55 VIN CONN PWR Input voltage (5.0 - 15.0 VDC) 56 VIN CONN PWR Input voltage (6 - 15 VDC)

57 SDIO CLK O SD Card Clock 58 USB1 SUPPLY EN O USB Host Supply Enable



Part Number: 61082-061400LF - Mating Connector Part Number: 61083-062400LF



3 GPIO 34 I/O GPIO 34 4 USB1 SUPPLY I USB Host Supply Detect


7 GPIO 0 I/O GPIO 0 8 UART1 TX O UART 1 TX

9 GPIO 1 I/O GPIO 1 10 UART1 RX I UART 1 RX

11 GPIO 2 I/O GPIO 2 12 UART1 RTS O UART 1 RTS

13 GPIO 3 I/O GPIO 3 14 UART1 CTS I UART 1 CTS






25 GPIO 9 I/O GPIO 9 26 CAN1 TX O CAN 1 TX

27 FPGA DONE O Do Not Connect 28 CAN1 RX I CAN 1 RX


31 PWR GOOD O Digital Supplies OK 32 GPIO 25 I/O GPIO 25






43 GPIO 14 I/O GPIO 14 44 I2C1 SDA I/O I2C1 Serial I/O

45 GPIO 15 I/O GPIO 15 46 I2C1 SCL O I2C1 Serial Clock

47 GPIO 16 I/O GPIO 16 48 JTAG TDO DNC Do Not Connect

49 GPIO 17 I/O GPIO 17 50 JTAG TCK DNC Do Not Connect

51 GPIO 18 I/O GPIO 18 52 JTAG TDI DNC Do Not Connect

53 GPIO 19 I/O GPIO 19 54 JTAG TMS DNC Do Not Connect


57 RTC SUPPLY PWR Real Time Clock Supply (3.0 VDC) 58 JTAG /RST DNC Do Not Connect




LED Indicators

Mode

Link

Pos

Power

Figure 4: LED Indicators - Top View

LED Name Color State Description

POWER LED Off Off No Power

Green Continuously On Module receiving power

POS LED Off Off Antenna missing or not detected

Orange Slow Blink Antenna connected but no satellites tracked

Orange Fast Blink Tracking satellites - e.g. > 1 satellites tracked

Orange Continuously On GNSS Solution Available

LINK LED Off Off No incoming corrections

Red Variable Blink Incoming corrections

MODE LED Off Off No RTK

Blue Blinking Float RTK

Blue Continuously On Fixed RTK



Digital Interfaces

USB

Two USB connections are available, one device (USB0)

and one host (USB1). USB0 is available via the 20 pin

connector. USB1 is available via High Density Connector 1.

See pinouts above for connection details.

By default, USB0 is configured as a Common Device

Class serial port. In this configuration, connection baud

rate is not acknowledged and the device will operate at the

line speed of the USB connection.

UART

Two UART provide high-speed 3.3V level asynchronous

serial interfaces which can be configured to transmit

NMEA-0183 messages or Swift Binary Protocol navigation

solution data, system status and debugging information and

receive commands or differential corrections from the host

or another Piksi board. The Uarts are not 5 volt tolerant.

Piksi Multi supports baud rates of up to 921600 bps.

Both UARTs are configured with a default baud rate of

115200 bps. UART0 and UART1 are available via High

Density Connector 1 and High Density Connector 2,

respectively. Both UARTs are also available via the 20 Pin

connector. Connections made via the High Density

connectors support hardware flow control. See pinouts

above for connection details.

The Piksi Multi Evaluation Board provides DE9

connections and line-level shifters to convert from LVTTL

to RS232 levels.

Ethernet

Piksi Multi provides 100 Mbps ethernet connectivity via

High Density Connector 2. See pinouts above for

connection for details. By default, it provides a TCP

stream of SBP data and is configured as follows:

Static IP: 192.168.0.222

Network Mask: 255.255.255.0

Gateway Address: 192.168.0.1

DNS Nameservers: 8.8.8.8, 8.8.4.4

SBP TCP Port: 55555

The Piksi Multi Evaluation Board provides an RJ45 port

for ethernet access.

CAN Bus

Two CAN bus connections are available on Piksi Multi.

Both CAN0 and CAN1 are comprised of 3.3V level transmit

and receive lines and an external transceiver is required.

CAN0 and CAN1 operate at 1 Mbps and are accessible via

the 20 pin connector. CAN0 and CAN1 are also accessible

via High Density Connector 1 and High Density Connector

2, respectively.

The Piksi Multi Evaluation Board provides a CAN

transciever as well as DE9 connections for CAN bus access.

PPS

Piksi Multi is equipped with a Pulse Per Second output

for external system synchronization. The signal is 3.3V,

and the pulse width is user definable. The timing accuracy

is ±60 ns.

External Event Input Marker

Piksi Multi is equipped with an External Event Input

Marker. This input allows events (e.g. a camera shutter

opening) to be accurately timestamped with respect to

GPS and UTC time. The input is accessible via Pin 10 on

High Density Connector 1. The voltage level is LVCOMS /

LVTTL - do not exceed 3.3 V. Piksi Multi can be set to

trigger on a rising edge, a falling edge, or both.

The input can be driven with a totem-pole output, an

open-collector output, or simply connect via a switch, relay,

optocoupler etc. to ground. No provisions are currently

provided internally for debouncing. The timing accuracy is

±60 ns. There is a to-be-determined minimum time

between events, i.e. after one event has been registered, a

second is not guaranteed to be detected unless it is some

to-be-determined duration later than the first.

JTAG

For advanced debugging, JTAG pins are accessible via

High Density Connector 2. This allows access to both the

Processing System and Programmable Logic of the Xilinx

Zynq 7020 SoC. No JTAG adapter is required to develop

for the Piksi Multi as the board is supplied with a built-in

bootloader.

TDISwiftNAP

(PL)

Zynq 7020

(PS)

TDO




Electrical Specifications

Max. rated supply voltage . . . . . . . . . . . . . . . . . . . . . . . 15.0 V DC(1)

Supply voltage range . . . . . . . . . . . . . . . . . . . . . 4.85(2) – 15.0 V DC

Power consumption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2.9 W(3)

Max. antenna bias current draw . . . . . . . . . . . . . . . . . . . . . .100 mA

Antenna input impedance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 Ω

Antenna bias voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.85 V DC(4)

Digital signal levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3 V DC(5)

(1)For system where voltage spikes may occur, it is recommended that a protection circuit be integrated between Piksi Multi and the power source.(2)Input voltages lower than 5.0 V DC may decrease antenna bias voltage.(3)Typical, dependant on firmware configuration and supply voltage.(4)Switchable on/off in software(5)Not 5V tolerant

Thermal Specification

Overview

Piksi Multi is capable of running up to 80C without a heatsink.

Above, the heatsink included in the kit or another heat sinking

strategy is recommended to allow operating temperatures of up to

85C. The included heatsink has a power dissippation of approxi-

mately 10C/W natural convection. Piksi Multi will automatically

shut down in the event of an over-temperature condition and tem-

perature warnings will be available in the SBP messages.

Heatsink Installation

The included heatsink is designed to fit onto two mounting holes

on Piksi Multi. To install the heatsink, remove the tape from

over the thermal adhesive on the bottom side of the heat sink.

With the board oriented with connectors face-down and the Swift

Logo right side up, the heat sink is installed in the top-right cor-

ner of the board. A small notch should line up with the mounting

hole in the top right corner. The thermal adhesive on the bot-

tom of the heatsink should line up over the part labeled “ZYNQ”.

When oriented, press the heatsink pins firmly into their associated

mounting holes.



Mechanical Drawing

34.3mm

5.7m

m

48mm

64.8mm

3.1mm

71mm

Figure 5: Top View

5.1m

m

5.9m

m

1.9

mm

Figure 6: Side View

All dimensions are in millimeters. Drawing not to scale.

Notes

1. Mass 26g.

2. M3 mounting holes are plated through and are not connected internally to ground.

Errata

1. External clock input: Hardware revision 00108-05 is not capable of switching between the on-board oscillator and an external

clock. These boards shipped from February through May of 2017 and can be determined from the small sticker on the front of

the PIksi Multi Board.

2. Hardware features awaiting software support: Some features are implemented on Piksi Hardware but do not yet have software

support including hot start, warm start, CAN communication, and GNSS navigation from constellations other than GPS. These

features are expected to come on-line during the recurring firmware releases. Access to the CAN interface is expected to be

provided through Piksi Multi’s SDK when it becomes available.

Version 1.1, September 14, 2017

Copyright c© 2013-2017 Swift Navigation, Inc.

PN: 000-534-01-01 9 of 9

http://www.swiftnav.com

http://www.swiftnav.com

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PiksiMulti - Robots éducatifs, robots de service, robots